| Abstract: | The dynamics of a multi-linkage model of natural or man-made systems with arbitrary holonomic and non-holonomic constraints at the joints are formulated. The formulation is equally applicable to movements on the ground or in the air. Nonlinear control strategies for postural balance and rhythmic motion are presented. A predictive algorithm to compensate for computation or transmission delay is proposed. Digital computer simulations are presented to demonstrate the effectiveness of the control strategy for a five-link three-dimensional biped. |
